Robot control system which enables safe robot operation and simple recovery when undesired movements are detected
US5912540A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Mar 3, 1997 |
| Grant date | Jun 15, 1999 |
| Priority date | — |
| Expiry date | Mar 3, 2017 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40225
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
The robot control system of the present invention stores the robot's initial state data memory prior to engaging in an operation. During a manual movement operation, the robot is started at a predetermined low speed so that the operator may easily observe its movement and take corrective action thereby improving safety. While the robot is operating at this low speed a recovery command may then be issued by the operator from a recovery command unit when it is observed that the robot is moving inappropriately. Upon detection of the recovery command, a recovery control unit then operates causing the robot to recover its attitude and position as defined by the initial state data stored in memory. However, if a predetermined period of time elapses without a recovery command being issued, then speed of the robot is gradually increased from the predetermined low speed until reaching a predetermined target speed. Thereafter, the robot is manually controlled to operate at a constant speed.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.